#ifndef __APP_FLIGHT_H__
#define __APP_FLIGHT_H__

#include "Int_motor.h"
#include "Freertos.h"
#include "task.h"
#include "Int_MPU6050.h"
#include "Com_IMU.h"
#include "Com_Filter.h"
#include "Com_PID.h"
#define LIMIT(x,min,max) ((x)>(max)?(max):((x)<(min)?(min):(x)))
//设置电机的速度
void App_Flight_SetSpeed(Fly_status fly_status,  Remote_struct *remote);

void App_Flight_Get_Euler_Angle(GyroAccel_Struct *gyro_accel,EulerAngle_Struct *eulerAngle);

//PID控制
void App_Flight_PIDControl(EulerAngle_Struct *eulerAngle, GyroAccel_Struct *gyro_accel, Remote_struct *remote);

void App_Flight_Height_PIDControl(uint16_t height, uint16_t current_height, float dt);
#endif /* __APP_FLIGHT_H__ */


